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[Bugfix] Fix ROS2StreamStatusMonitorTest #472

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[Bugfix] Fix ROS2StreamStatusMonitorTest #472

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12 changes: 7 additions & 5 deletions ihmc-perception/src/test/java/us/ihmc/perception/streaming/ROS2StreamStatusMonitorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,12 @@

import java.net.InetSocketAddress;

import static java.lang.Thread.interrupted;
import static org.junit.jupiter.api.Assertions.*;

public class ROS2StreamStatusMonitorTest
{
private static final ROS2Node ROS2_NODE = ROS2Tools.createROS2Node(PubSubImplementation.FAST_RTPS, "stream_status_monitor_test_node");
private static final ROS2Node ROS2_NODE = ROS2Tools.createROS2Node(PubSubImplementation.INTRAPROCESS, "stream_status_monitor_test_node");
private static final ROS2Helper ROS2_HELPER = new ROS2Helper(ROS2_NODE);
private static final ROS2Topic<SRTStreamStatus> TEST_TOPIC = PerceptionAPI.SRT_STREAM_STATUS.withSuffix("test");

Expand Down Expand Up @@ -107,8 +108,8 @@ public void testStreamingStatus() throws InterruptedException

Thread messagePublishThread = ThreadTools.startAsDaemon(() ->
{
// Publish messages for 1 second
for (float i = 0.0f; i < messagePublishFrequency; i++)
// Publish messages for 3 second
while (!interrupted())
{
ROS2_HELPER.publish(TEST_TOPIC, statusMessage);
}
Expand All @@ -117,11 +118,12 @@ public void testStreamingStatus() throws InterruptedException
ROS2_HELPER.publish(TEST_TOPIC, statusMessage);
}, getClass().getSimpleName() + "Thread");

streamStatusMonitor.waitForStream(1.0);
streamStatusMonitor.waitForStream(1.5);
assertTrue(streamStatusMonitor.isStreaming());

messagePublishThread.interrupt();
messagePublishThread.join();
MissingThreadTools.sleep(0.01);
MissingThreadTools.sleep(0.5);
assertFalse(streamStatusMonitor.isStreaming());
}
}
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